A linear memoryless controller is developed for a class of uncertain linear time-delay systems to track dynamic inputs of a nondelay reference model. For matched uncertainties, the controller designed guarantees uniform ultimate boundedness of the tracking error, and furthermore the error bound can be made arbitrarily small. For mismatched uncertainties a condition is derived under which the controller designed ensures ultimate boundedness of the tracking error. However, in this case there is no control over the tracking error bound. Finally, examples are included to illustrate the results developed in this paper.